新型车载探测雷达系统技术研究

侯德藻1李克强1连小珉1刘锋21.清华大学汽车安全与节能国家重点实验室,北京,1000842.航天工业总公司8358研究所,天津,300192:以车载使用环境对探测雷达系统的参数要求为基础,设计了一种新型车载扫描式激光雷达系统方案;对车载应用条件下雷达信号处理技术进行了研究,设计了基于四阶卡尔曼滤波的目标物信息提取算法雷达目标物有效性识别算法和目标物跟踪算法,通过实车试验对研究结果进行了验证:;;;;:U463.9:1004132(2004)21189104StudyonaNovelOn-vehicleDetectingRadarSystemHouDezao1LiKeqiang1LianXiaomin1LiuFeng21.TsinghuaUniversity,Beijing,1000842.8358thResearchInstituteofChinaCosmonauticIndustryCompany,Tianjin,300192Abstract:Anovelscanninglaserradarsystemwasdeveloped.Basedontheparametricrequirementanalysisofon-vehicleradarsystemtheoverallschemeofthesystemwasdesigned.Thesignalprocessingtechnologyoftheradarsystemwasstudiedandthefour-stateKalmanfilterbasedtargetinformationobtainingmethod,thevalidtargetidentificationmethod,thetargettrackingmethodwereobtained.Finally,somevehicletestswereperformedtovalidatetheresearchresultsofthepaper.Keywords:radar;targetidentification;targettracking;Kalmanfilter;automobile:20030908:!∀(2002BA404A21)0引言2090[1,2],,,[3,4],,,,(Kalman),1车载探测雷达系统的参数要求分析1,Dm,;1,:thvminDmthvmax(1),vminvmax;th,th=18s,20~200km/h,10mDm100m(2),,2m,(2)=arctan(22#10)∃6%(3)(3)&1891&12%,,∋1m,1%,∋1%,,1110mDm100m12%∋1m1%,∋1%-25~+85(7g2车载扫描式激光雷达系统方案设计,,,1,[5],,1,,[4],,,,22()()(),,,,1,,2,12,,t,DD=12ct(4),c(4),t,,,,,,,2,11,3雷达信号处理技术研究,,;,,,,,,,,:;3.1&1892&1521200411[6],(),,,,,,,(3),r,x3,x,,xXn+1=FXn+Gun(5)Xn=[xn,x&n,x)n,x∗n]T(6)F=1TT2/2T3/601TT2/2001T0001(7)G=[000T]T(8),xnx;T;un,QG,,xZn=HXn+Vn(9),Znx;Vn,R;H,H=[1000]3,Zn=r(n)cos(n)yn=r(n)sin(n)(11)R=!2rcos2(n)+r(n)2!2sin2(n)(11),yny;r(n)(n);!2r!2:X^n=X^n|(n-1)+Kn(Zn-HX^n|(n-1))(12),X^nXn;X^n|(n-1)Xn;Zn;Kn:X^n|(n-1)=FX^(n-1)(13)Pn|(n-1)=FP(n-1)FT+GQGT(14)Kn=Pn|(n-1)=HT(HPn|(n-1)HT+R)-1(15)Pn=(I-KnH)Pn|(n-1)(16),Pn;Pn|(n-1);ITQ!2r!2P0X0,(10)~(16),x3.2,,y,|y|+1.5m(17),,x;,Zn|(n-1)=HX^n|(n-1)(18)S(n)=HPn|(n-1)HT+R(19)d2=∀,(n)S-1(n)∀(n)(20)∀(n)=Zn-Zn|(n-1)(21),d2m#2,m5%,,#2d2+3.841(22)(22),,;&1893&(22),,,,4试验验证,44,56,xDx,xvx,d2(a)x(b)x(c)1.2.3.4.5.6.55,,5[6],(a)x(b)x(c)1.2.3.4.6,,,,,,,,6(,),,(22),,,5结语(1),,,,,(2),(1902)&1894&1521200411,,2.5,c=5,,11(g)6019.86121.17222.04322.81423.56524.583.33,213,210mm,1mm21.17g,,4结论,:[1],..,2003,20(11):31~33[2]PoratZ,HaimM,MarkiewiczY.EstimationofPr{xy}orPr{x+y}.IEEETransactionsonReliability,1994,43(3):466~469[3]NelsonW.AcceleratedLifeTestingStep-StressModelandDataAnalyses.IEEEtransactionsonreliability,1980,29(2):103~1082[4],,,..:,1986[5],..:,1990[6],..:,2001[7]..,1995,12(4):124~129[8].(1)-.:,1989():李超,,1970,11王金诺,,1937(1894),(3),,:[1]YiKS,ChungJ.NonlinearBrakeControlforVehicleCW/CASystems.IEEE/ASMETransactionsonMechatronics,2001,6(1):17~25[2],,..,2001,22(4):428~430[3],..,1999(5):61~62[4]..,1999,10(6):701~704[5],,,..(),2002,22(2):73~76[6]RamachandraK.V.Kalmanfilteringtechniquesforradartracking.USA:MarcelDekker,2000():侯德藻,,197510李克强,,1963连小珉,,1955刘锋,,19648358&1902&1521200411